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-rw-r--r--src/drivers/ao_hmc5883.c139
-rw-r--r--src/drivers/ao_hmc5883.h41
-rw-r--r--src/drivers/ao_mpu6000.c97
-rw-r--r--src/drivers/ao_mpu6000.h30
4 files changed, 307 insertions, 0 deletions
diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
new file mode 100644
index 00000000..0077daf9
--- /dev/null
+++ b/src/drivers/ao_hmc5883.c
@@ -0,0 +1,139 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_hmc5883.h>
+#include <ao_exti.h>
+
+static uint8_t ao_hmc5883_wake;
+static uint8_t ao_hmc5883_configured;
+
+static void
+ao_hmc5883_isr(void)
+{
+ ao_exti_disable(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
+ ao_hmc5883_wake = 1;
+ ao_wakeup(&ao_hmc5883_wake);
+}
+
+static uint8_t ao_hmc5883_addr_reg;
+
+static void
+ao_hmc5883_update_addr (uint8_t len)
+{
+ ao_hmc5883_addr_reg += len;
+ if (ao_hmc5883_addr_reg == 9)
+ ao_hmc5883_addr_reg = 3;
+ else if (ao_hmc5883_addr_reg > 12)
+ ao_hmc5883_addr_reg = 0;
+
+}
+
+static void
+ao_hmc5883_write(uint8_t addr, uint8_t *data, uint8_t len)
+{
+ ao_i2c_get(AO_HMC5883_I2C_INDEX);
+ ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE);
+ ao_i2c_send(&addr, 1, AO_HMC5883_I2C_INDEX);
+ ao_hmc5883_addr_reg = addr;
+ if (len) {
+ ao_i2c_send(data, len, AO_HMC5883_I2C_INDEX);
+ ao_hmc5883_update_addr(len);
+ }
+ ao_i2c_stop(AO_HMC5883_I2C_INDEX);
+ ao_i2c_put(AO_HMC5883_I2C_INDEX);
+}
+
+static void
+ao_hmc5883_read(uint8_t addr, uint8_t *data, uint8_t len)
+{
+ ao_i2c_get(AO_HMC5883_I2C_INDEX);
+ if (addr != ao_hmc5883_addr_reg) {
+ ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE);
+ ao_i2c_send(&addr, 1, AO_HMC5883_I2C_INDEX);
+ ao_hmc5883_addr_reg = addr;
+ }
+ ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
+ if (len) {
+ ao_i2c_recv(data, len, AO_HMC5883_I2C_INDEX);
+ ao_hmc5883_update_addr(len);
+ }
+ ao_i2c_stop(AO_HMC5883_I2C_INDEX);
+ ao_i2c_put(AO_HMC5883_I2C_INDEX);
+}
+
+static uint8_t
+ao_hmc5883_setup(void)
+{
+ uint8_t present;
+ if (ao_hmc5883_configured)
+ return 1;
+
+ /* Enable the EXTI interrupt for the appropriate pin */
+ ao_enable_port(AO_HMC5883_INT_PORT);
+ ao_exti_setup(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN,
+ AO_EXTI_MODE_FALLING, ao_hmc5883_isr);
+
+ ao_hmc5883_addr_reg = 0xff;
+
+ ao_i2c_get(AO_HMC5883_I2C_INDEX);
+ present = ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
+ ao_i2c_stop(AO_HMC5883_I2C_INDEX);
+ ao_i2c_put(AO_HMC5883_I2C_INDEX);
+ if (!present)
+ return 0;
+ ao_hmc5883_configured = 1;
+ return 1;
+}
+
+static void
+ao_hmc5883_show(void)
+{
+ uint8_t addr, data;
+
+ for (addr = 0x00; addr <= 0x7f; addr++)
+ {
+ ao_i2c_get(AO_HMC5883_I2C_INDEX);
+ data = ao_i2c_start(AO_HMC5883_I2C_INDEX, addr << 1);
+ ao_i2c_stop(AO_HMC5883_I2C_INDEX);
+ ao_i2c_put(AO_HMC5883_I2C_INDEX);
+ if (data)
+ printf("address %02x responds\n", addr << 1);
+ }
+ if (!ao_hmc5883_setup()) {
+ printf("hmc5883 not present\n");
+ return;
+ }
+ for (addr = 0; addr <= 12; addr++) {
+ ao_hmc5883_read(addr, &data, 1);
+ printf ("hmc5883 register %2d: %02x\n",
+ addr, data);
+ }
+}
+
+static const struct ao_cmds ao_hmc5883_cmds[] = {
+ { ao_hmc5883_show, "M\0Show HMC5883 status" },
+ { 0, NULL }
+};
+
+void
+ao_hmc5883_init(void)
+{
+ ao_hmc5883_configured = 0;
+
+ ao_cmd_register(&ao_hmc5883_cmds[0]);
+}
diff --git a/src/drivers/ao_hmc5883.h b/src/drivers/ao_hmc5883.h
new file mode 100644
index 00000000..399ddcdd
--- /dev/null
+++ b/src/drivers/ao_hmc5883.h
@@ -0,0 +1,41 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_HMC5883_H_
+#define _AO_HMC5883_H_
+
+#define HMC5883_ADDR_WRITE 0x3c
+#define HMC5883_ADDR_READ 0x3d
+
+#define HMC5883_CONFIG_A 0
+#define HMC5883_CONFIG_B 1
+#define HMC5883_MODE 2
+#define HMC5883_X_MSB 3
+#define HMC5883_X_LSB 4
+#define HMC5883_Y_MSB 5
+#define HMC5883_Y_LSB 6
+#define HMC5883_Z_MSB 7
+#define HMC5883_Z_LSB 8
+#define HMC5883_STATUS 9
+#define HMC5883_ID_A 10
+#define HMC5883_ID_B 11
+#define HMC5883_ID_C 12
+
+void
+ao_hmc5883_init(void);
+
+#endif /* _AO_HMC5883_H_ */
diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
new file mode 100644
index 00000000..290f1390
--- /dev/null
+++ b/src/drivers/ao_mpu6000.c
@@ -0,0 +1,97 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_mpu6000.h>
+#include <ao_exti.h>
+
+static uint8_t ao_mpu6000_wake;
+static uint8_t ao_mpu6000_configured;
+
+static void
+ao_mpu6000_isr(void)
+{
+ ao_exti_disable(&AO_MPU6000_INT_PORT, AO_MPU6000_INT_PIN);
+ ao_mpu6000_wake = 1;
+ ao_wakeup(&ao_mpu6000_wake);
+}
+
+static void
+ao_mpu6000_write(uint8_t addr, uint8_t *data, uint8_t len)
+{
+ ao_i2c_get(AO_MPU6000_I2C_INDEX);
+ ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
+ ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX);
+ if (len)
+ ao_i2c_send(data, len, AO_MPU6000_I2C_INDEX);
+ ao_i2c_stop(AO_MPU6000_I2C_INDEX);
+ ao_i2c_put(AO_MPU6000_I2C_INDEX);
+}
+
+static void
+ao_mpu6000_read(uint8_t addr, uint8_t *data, uint8_t len)
+{
+ ao_i2c_get(AO_MPU6000_I2C_INDEX);
+ ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
+ ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX);
+ ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
+ if (len)
+ ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX);
+ ao_i2c_stop(AO_MPU6000_I2C_INDEX);
+ ao_i2c_put(AO_MPU6000_I2C_INDEX);
+}
+
+static void
+ao_mpu6000_setup(void)
+{
+ if (ao_mpu6000_configured)
+ return;
+
+ /* Enable the EXTI interrupt for the appropriate pin */
+ ao_enable_port(AO_MPU6000_INT_PORT);
+ ao_exti_setup(&AO_MPU6000_INT_PORT, AO_MPU6000_INT_PIN,
+ AO_EXTI_MODE_FALLING, ao_mpu6000_isr);
+
+ ao_mpu6000_configured = 1;
+}
+
+static void
+ao_mpu6000_show(void)
+{
+ uint8_t addr;
+ uint8_t data[14];
+ uint8_t i;
+
+ ao_mpu6000_read(MPU6000_WHO_AM_I, data, 1);
+ printf ("mpu6000 WHO_AM_I: %02x\n", data[0]);
+ ao_mpu6000_read(MPU6000_ACCEL_XOUT_H, data, 1);
+ for (i = 0; i < 14; i++)
+ printf ("reg %02x: %02x\n", i + MPU6000_ACCEL_XOUT_H, data[i]);
+}
+
+static const struct ao_cmds ao_mpu6000_cmds[] = {
+ { ao_mpu6000_show, "I\0Show MPU6000 status" },
+ { 0, NULL }
+};
+
+void
+ao_mpu6000_init(void)
+{
+ ao_mpu6000_configured = 0;
+
+ ao_cmd_register(&ao_mpu6000_cmds[0]);
+}
diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h
new file mode 100644
index 00000000..d436a3e0
--- /dev/null
+++ b/src/drivers/ao_mpu6000.h
@@ -0,0 +1,30 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_MPU6000_H_
+#define _AO_MPU6000_H_
+
+#define MPU6000_ADDR_WRITE 0xd0
+#define MPU6000_ADDR_READ 0xd1
+
+#define MPU6000_ACCEL_XOUT_H 0x3b
+#define MPU6000_WHO_AM_I 0x75
+
+void
+ao_mpu6000_init(void);
+
+#endif /* _AO_MPU6000_H_ */
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-25 20:27:43 +0000